{"683413":{"#nid":"683413","#data":{"type":"event","title":"PhD Defense by Michael E. Cao","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u0026nbsp;\u003C\/strong\u003ESafe Control of Partially Unknown Systems Leveraging Efficient Reachability\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EDate: \u003C\/strong\u003EThursday, August 14th, 2025\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETime: \u003C\/strong\u003E1:00 PM - 3:00 PM EST\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ELocation: \u003C\/strong\u003ETSRB 530\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EVirtual Link:\u0026nbsp;\u003C\/strong\u003E\u003Ca href=\u0022https:\/\/gatech.zoom.us\/j\/97140675170\u0022\u003Ehttps:\/\/gatech.zoom.us\/j\/97140675170\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EMichael\u0026nbsp;E. Cao\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ERobotics PhD Candidate\u003C\/p\u003E\u003Cp\u003ESchool of Electrical and Computer Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EDr. Samuel Coogan (Advisor) - School of Electrical and Computer Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Matthieu Bloch - School of Electrical and Computer Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Kyriakos Vamvoudakis\u0026nbsp;- School of Aerospace Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Yorai Wardi - School of Electrical and Computer Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Ye Zhao - School of Mechanical Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract:\u0026nbsp;\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EAutonomous systems operating in real-world conditions often have to contend with environmental disturbance behavior that is unknown a priori. We present a method for efficiently computing reachable sets for continuous-time systems with partially unknown dynamics. Our main assumption is that, given any hyperrectangle of states, lower and upper bounds for the unknown components are available. With this assumption, the theory of mixed monotone systems allows us to formulate an efficient method for computing hyperrectangular overapproximations of the reachable sets of the system. We apply this formulation to a system navigating towards a goal region while avoiding unsafe regions. We derive a model predictive control scheme that avoids the unsafe region and ensures the system is always within reach of an a priori guaranteed safe region, thus ensuring feasibility until the goal is reachable. We explore this formulation further by considering multiple probability levels to increase performance. We also consider the problem of tracking a reference trajectory for these systems. We modify the embedding system such that a single controlled trajectory corresponds to a controlled forward invariant interval tube around the reference, and utilize it in a runtime assurance mechanism that guarantees tracking of the reference trajectory within a desired threshold.\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003ESafe Control of Partially Unknown Systems Leveraging Efficient Reachability\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"Safe Control of Partially Unknown Systems Leveraging Efficient Reachability"}],"uid":"27707","created_gmt":"2025-07-31 17:26:16","changed_gmt":"2025-07-31 17:26:44","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2025-08-14T13:00:00-04:00","event_time_end":"2025-08-14T15:00:00-04:00","event_time_end_last":"2025-08-14T15:00:00-04:00","gmt_time_start":"2025-08-14 17:00:00","gmt_time_end":"2025-08-14 19:00:00","gmt_time_end_last":"2025-08-14 19:00:00","rrule":null,"timezone":"America\/New_York"},"location":"TSRB 530","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"100811","name":"Phd Defense"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}